Wheel Loader Drive Force Control for Slip Suppression
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Solution Overview
Problem
Conventional techniques fail to balance slip suppression and excavation performance in wheel loaders during earth and sand excavation, as limiting traveling drive force to prevent slip reduces penetration force, resulting in insufficient excavation performance.
Innovation Solution
A wheel loader equipped with sensors for acceleration, rotational speed, and hydraulic thrust, along with a control device that adjusts traveling drive force based on calculated reduction values to maintain sufficient excavation performance while minimizing slip, by determining and reducing the drive force in accordance with the detected acceleration and thrust.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the traveling drive force is limited at the start of slip to suppress slip, then slip is suppressed, but the force for penetration into the earth and sand is not sufficiently obtained, resulting in insufficient excavation performance
Solution Approach 1:
The control device dynamically adjusts the traveling drive force based on real-time detection of acceleration, rotational speed, and hydraulic thrust. The system transitions from static force limitation to dynamic control, modifying the drive force according to the actual working conditions and slip state, thereby resolving the contradiction between slip suppression and excavation performance
Solution Approach 2:
The control device uses feedback from acceleration sensors, rotational speed sensors, and thrust sensors to continuously monitor the working state. Based on this feedback, the system calculates the reduction value and adjusts the traveling drive force in real-time, enabling adaptive control that maintains both slip suppression and sufficient excavation performance
Solution Approach 3:
The system changes the parameter of traveling drive force based on multiple detected parameters (acceleration, rotational speed, thrust). By calculating the reduction value from these parameters, the system adjusts the drive force to an optimal level that prevents slip while maintaining excavation effectiveness
2Productivity
If the traveling drive force is increased to improve penetration into the earth and sand, then excavation performance is improved, but slip occurs during excavation
Solution Approach 1:
The system dynamically controls the traveling drive force rather than using fixed high force. By continuously adjusting the drive force based on real-time detection of acceleration, rotational speed, and thrust, the system maintains high enough force for penetration while preventing slip through active control
Solution Approach 2:
The feedback mechanism monitors acceleration and rotational speed to detect early signs of slip. When slip is detected or anticipated, the system reduces the traveling drive force accordingly, preventing slip while maintaining sufficient force for excavation performance
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The solution enables the wheel loader to achieve sufficient excavation performance while suppressing slip, enhancing operational efficiency and reducing the likelihood of slip during excavation tasks.
Implementation Method 1
an acceleration sensor configured to detect acceleration of the vehicle body
Implementation Method 2
a rotational speed sensor configured to detect rotational speed of the wheels
Implementation Method 3
a thrust sensor configured to detect thrust of the hydraulic cylinder
Implementation Method 4
an engine serving as a power source, configured to generate traveling drive force of the vehicle body and thrust of the hydraulic cylinder
Data Source
AI summary
Provided is a wheel loader capable of exhibiting sufficient excavation performance while suppressing slip during excavation. A control device provided on a wheel loader according to the present invention is configured to determine a reduction value (Δf′) of traveling drive force based on first vehicle body acceleration (av1) of a vehicle body calculated from acceleration detected by an acceleration sensor, second vehicle body acceleration (av2) of the vehicle body calculated from rotational speed of wheels detected by a rotational speed sensor, and thrust (ph) of a hydraulic cylinder detected by a thrust sensor, and reduce the traveling drive force based on the reduction value and output the reduced traveling drive force.